Vehicular multi-camera vision system using coaxial cables with bidirectional data transmission

ABSTRACT

A vehicular multi-camera vision system includes a plurality of cameras and an electronic control unit (ECU). The cameras are disposed at a vehicle and have respective fields of view exterior of the vehicle. The cameras are operable to capture image data. The cameras are connected with the ECU via respective coaxial cables. Each respective coaxial cable (i) carries captured image data from the respective camera to the ECU, (ii) carries camera control data from the ECU to the respective camera and (iii) connects a DC power supply of the ECU to the respective camera. The camera control data is carried by the respective coaxial cable from the ECU to the respective camera at a control data carrier frequency that is lower than an image data carrier frequency at which image data captured by the respective camera is carried by the respective coaxial cable from the respective camera to the ECU.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/792,430, filed Feb. 17, 2020, now U.S. Pat. No. 11,025,859,which is a continuation of U.S. patent application Ser. No. 14/297,663,filed Jun. 6, 2014, now U.S. Pat. No. 10,567,705, which claims thefiling benefits of U.S. provisional applications, Ser. No. 61/864,837,filed Aug. 12, 2013, and Ser. No. 61/833,080, filed Jun. 10, 2013, whichare hereby incorporated herein by reference in their entireties.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras (preferably one or more CMOScameras) to capture image data representative of images exterior of thevehicle, and provides the communication/data signals, including cameradata or captured image data, that may be displayed at a display screenthat is viewable by the driver of the vehicle, such as when the driveris backing up the vehicle, and that may be processed and, responsive tosuch image processing, the system may detect an object at or near thevehicle and in the path of travel of the vehicle, such as when thevehicle is backing up. The vision system may be operable to display asurround view or bird's eye view of the environment at or around or atleast partially surrounding the subject or equipped vehicle, and thedisplayed image may include a displayed image representation of thesubject vehicle.

The present invention provides for the transfer of some or all data(such as image data captured by a camera and camera control data for useby the camera) over just one coaxial line (cable) and to eliminate theneed of LIN or CAN transceivers, such as by transferring control datavia at least one analog signal such as via modulation to a (sinusoidal)carrier wave, which has a frequency that is off or outside the bandwidthof the frequency of the image data FBAS (or other analog or digitalimage data format/encryption/modulation) signal (anddecoupling/demodulating/filtering both signals at the other end of thedata line). The term FBAS-signal stands forFarb-Bild-Austast-Synchron-Signal (in English, such a signal is commonlyreferred to as CVBS, which stands for Color, Video, Blanking, and Sync).Optionally, the present invention may also reduce the need for having aprocessor in the camera. Optionally, and in accordance with the presentinvention, DC power for powering the camera may be carried over the samecoaxial line (from the ECU or image receiving device).

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system thatincorporates cameras in accordance with the present invention;

FIG. 2 is a schematic of a known LIN calibration data and FBAS imagedata transmission;

FIG. 3 is a schematic of a data transmission system and cable inaccordance with the present invention;

FIG. 4A is a graph of carrier frequencies that may be selected for adata channel beside the video data channel of the system of the presentinvention;

FIG. 4B is a graph of different carrier frequencies that may be selectedfor the camera calibration data channel, the ECU control data channelbeside the video data channel of the system of the present invention;

FIG. 4C is a graph of different carrier frequencies that may be selectedfor the camera calibration data channel, the ECU control data channeland with the video data also modulated onto a HF carrier channel of thesystem of the present invention;

FIG. 4D is a graph of a single carrier frequency that may be selectedfor a common data channel of video data as well as parameter and controldata of the system of the present invention;

FIG. 4E is a graph of the system of the present invention showingdifferent MHz carrier frequencies that may be selected for the cameracalibration data channel, the ECU control data channel, with the videodata also modulated onto a HF carrier channel, and with an additionallow frequency of the camera's AC power supply;

FIGS. 5A and 6A are schematics of imaging systems of the presentinvention transmitting the video data of the camera via (non-modulated)FBAS and bidirectional parameter and control data during the sync pause(in accordance with a frequency spectrum such as shown in FIG. 4A);

FIGS. 5B and 6B are schematics of imaging systems of the presentinvention transmitting the video data of the camera and bidirectionalparameter and control data modulated on one (identical) carrier wave(see FIG. 4D), with the data transmitted during the sync pause;

FIGS. 7A and 8A are schematics of imaging systems of the presentinvention transmitting both the video data of the camera andbidirectional (parameter and control) data modulated each on differentcarrier waves (see FIG. 4D), with a circuit shown for transmitting DCsupply current from the ECU to the camera;

FIGS. 7B and 8B are schematics of imaging systems of the presentinvention transmitting both the video data of the camera andbidirectional (parameter and control) data modulated each on differentcarrier waves, with a circuit shown for transmitting AC supply currentfrom the ECU to the camera (in accordance with a frequency spectrum suchas shown in FIG. 4E);

FIG. 9 is a schematized circuit diagram of how a camera inherent powerconverter can be used as an amplitude modulator for sending camera data(mono-directional);

FIG. 10 is a simplified schematic of a TPS54062, which may be used aspower converter in the schematized circuit diagram of FIG. 9;

FIG. 11 is a functional block diagram of a TPS54062, which may be usedas power converter in the schematized circuit diagram of FIG. 9; and

FIG. 12 is a basic driver circuit, which may be used as a modulatorblock for the circuits of FIGS. 7A and 7B.

LEGEND

-   -   20 Camera device according the invention    -   21 Imager    -   22 parallel digital video (RGB)    -   23 I{circumflex over ( )}2C data transmission    -   24 Analog Signal diver/receiver/modulator and encoder for FBAS        signal    -   25 Coaxial cable line    -   26 Analog Signal diver/receiver/modulator/decoder and filter for        FBAS signal    -   27 Video signal (alone), e.g., FBAS    -   28 bidirectional data signal (alone)    -   29 Image control and processing unit    -   30 ECU according the invention    -   31 Video encoder digital to analog (e.g., FBAS)    -   32 LIN/CAN transceiver    -   33 twisted pair line    -   34 LIN/CAN line (of any nature)    -   35 LIN/CAN transceiver    -   36 Video decoder    -   37 Sync detector and timing logic for camera    -   38 Video buffer    -   39 Data buffer camera    -   40 Known art camera device    -   50 ECU of known art    -   61 Data buffer ECU    -   62 Driver or modulator    -   63 Receiver or demodulator    -   64 Mixer or modulator    -   65 Filter or demodulator    -   66 Data switch    -   67 Switch timing signal    -   70 Video modulator, e.g., frequency adder camera side    -   71 Data demodulator camera side    -   72 Data demodulator ECU side    -   73 High pass filter    -   74 Band pass filter    -   75 Low pass filter    -   76 Video demodulator ECU side    -   77 Data modulator camera side    -   78 Data modulator ECU side    -   79 (highest) HF signal source or generator    -   80 (medium high) HF signal source or generator    -   81 (lowest) LF signal source or generator    -   82 Camera supply DC power source ECU side    -   83 Camera supply DC power node camera side    -   84 AC/DC filter    -   85 Camera data (e.g., intrinsic parameter)    -   86 Camera control data (e.g., white balance)    -   90 Camera supply AC power source ECU side    -   91 Camera supply AC power node camera side    -   92 Camera supply DC power node camera side    -   93 High pass filter    -   94 Band pass filter—high    -   95 Band pass filter—low    -   96 Shottky diode    -   210 Imager with on chip μC

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide a top down or bird's eye orsurround view display and may provide a displayed image that isrepresentative of the subject vehicle, and optionally with the displayedimage being customized to at least partially correspond to the actualsubject vehicle.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 d at respective sides of the vehicle), which captures imagesexterior of the vehicle, with the camera having a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera (FIG. 1). The vision system 12 includes a control or electroniccontrol unit (ECU) or processor 18 that is operable to process imagedata captured by the cameras and may provide displayed images at adisplay device 16 for viewing by the driver of the vehicle (althoughshown in FIG. 1 as being part of or incorporated in or at an interiorrearview mirror assembly 20 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle). The datatransfer or signal communication from the camera to the ECU may compriseany suitable data or communication link, such as a vehicle network busor the like of the equipped vehicle.

Typically, known art analog automotive vision system cameras,particularly rear and surround view cameras, have no bidirectional datatransmission lines and are typically mono-directional. Typically, suchmono-directional camera systems use a twisted pair cable to transfer ananalog signal of the cameras, such as images captured by the camera'simager to an ECU or image receiving device. A typically used signalformat is FBAS. The power cable is typically separate from the data lineas another cable plugged into the camera.

International Publication Nos. WO 2013/081985 and/or WO 2013/043661,which are hereby incorporated herein by reference in their entireties,suggest use of a bidirectional digital data transmission ofmono-directional camera image data and bidirectional camera parameter orcalibration data over one coaxial cable via an asymmetrically (shield onground as one node/terminal and a coaxial core as the secondnode/terminal) driven LVDS driver plus the camera DC-power coupled andsupplied by the image receiving device.

Relatively primitive high volume, low cost analog (especially FBAS)cameras typically cannot be controlled by an ECU since there is no backchannel. Also, low cost digital cameras often have no control input orchannel. When control via a back channel is desired, a LIN or CANconnection is typically the chosen bus. Twisted pair wired LVDS orEthernet networks are also known (capable for bidirectional datatransfer), such as shown in the schematic of FIG. 2. Mono-directionalcalibration data (to the camera or cameras) may include white balance,brightness or illumination control, pseudo synchronization, contrastenhancement, frame rate (untypically on FBAS), overlay switching, imagecropping control (such as for transferring a reduced amount of imagedata by transferring a limited region of interest that is smaller thanthe full image or a limited amount of color channels of the image). Whenextrinsic or intrinsic parameters transfer from the camera to the ECU, adata channel from the camera to the ECU is necessary (beside the videodata channel). As described in International Publication Nos. WO2013/043661, which is hereby incorporated herein by reference in itsentirety, camera parameter data parallel transmission via the videoframe data stream is provided by adding the data to the video frames.Such a solution lacks suitable imagers that produce a data frame andsuch images tend to be too expensive due to the additional circuitry togenerate data frames. Also, when using more than one camera having intercamera controls or balancing parameters, such parameters may betransmitted to and from the cameras, possibly via other nodes in betweensuch as the ECU eventually via other nodes or gateways. Each of the ECUand the camera(s) needs to possess a twisted pair LIN/CAN/Ethernet/LVDStransceiver and a (typically small) processor for data transmission andhandling accordingly. The data transfer between the imager and peripheryinside the camera is typically done by I{circumflex over ( )}2C. Theimager typically provides image data signals by parallel digital (RGB)video or FBAS (see FIG. 2). If not done via inductive coupling to LVDSvia coax as described above, the camera supply is typically done via anextra cable or wire incorporated in the bunch of data wires, typicallyin DC.

Due to cost advantages, there is the desire to reduce the costs byreducing the number of lines, connectors and expensive components forcamera image (mono-directional) and control data transfer(bidirectional) and power supply.

By transferring control data via at least one analog signal especiallyvia modulation to a (sinusoidal) carrier wave, which has a frequencythat is off or outside of the bandwidth of and with sufficient Shannondistance (or Nyquist distance) from the frequency of the image data FBAS(or other analog or digital image data format/encryption/modulation)signal (such as shown in FIG. 4A) (and decoupling/demodulating/filteringboth signals at the other end of the data line), the present inventionmay transfer all data over just one coaxial line (cable) and mayeliminate the need of LIN or CAN transceivers (see FIG. 3). The sidebands of a carrier signal due to the signal modulation (the widths ofthe data bandwidths) must have a suitable distance to be filtered fromone another. Otherwise, the Shannon-Nyquist criteria is infringed or inother words the (minimal) Shannon-Nyquist distance wasn't reflected whenchoosing the carriers. A greater distance is preferred when usingrelatively simple filters. Because the coaxial cable ‘Ether’ isgenerally empty beside the camera control signals and image data signalsand power signals, the system of the present invention can use largedistances between the frequencies, so long as the system has the carrierbase waves generated for such signals and distances.

Depending on the further circuits and imager interfaces, the presentinvention may optionally also reduce the need for having a processor inthe camera (maybe just using an ASIC). As another option, the presentinvention may transfer the DC power for the camera as well over the samecoaxial line (see FIGS. 7A and 8A) (from the ECU or image receivingdevice) such as similar to the DC power via coaxial cablecoupling/decoupling solution described in International Publication No.WO 2013/043661, incorporated above. Shown in there as positive node thecore wire may be used and as negative node the coaxial cable'sshielding. As an additional aspect of the invention, a coaxial cablewith two shielding layers and one core wire may be used instead.Optionally, the DC may be supplied via both shield layers. Optionally,and desirably, the negative layer or ground layer may be the innershielding layer and the positive node may be applied to the outershielding layer for better signal annuity. The positive node may becapacitively set to the signal ground as well for conserving the doubleshielding effect for the signal (but not grounding the positive node inDC). By that optional configuration the DC coupling impedances may besaved.

As an alternative optional solution, the camera supply may be achievedby transmitting the supply power not as DC but as alternating current(AC) via a mono or multiple shield coaxial cable, such as shown in FIGS.7B and 8B. Optionally, the AC supply may be used as carrier wave. Thevideo or control data may be modulated onto that carrier. Optionally,both may be modulated to the carrier. That may reduce the necessarily togenerate a different carrier frequency than the supply AC frequency.Optionally, the video and control date may be modulated to differentfrequencies than the supply AC's frequency having sufficient Shannondistance to it and each other such as shown in the spectrum diagram ofFIG. 4E and the circuits in FIGS. 7A, 8A, 7B and 8B. These figures showHF sources for delivering the carrier waves to the modulators. These maybe generated separately or may be sourced by the imager frequency.Typically, there are divisions and multiples of the imager frequencypresent on the camera circuit board anyway.

For AC power transmission via a coaxial cable, the most primitivecircuit at power consumer side (the camera side) may be set up by justone impedance, a diode and a capacitor. In FIG. 7B, an exemplary circuitis shown. The diode cuts the bottom of the AC supply wave, the capacitoron node 92 is for providing power during the negative signal half wave.Optionally, the coil may have multiple voltage taps when the consumerside system (camera system) requires more than one source voltage.Optionally, more voltage smoothing measures may be comprised in theconsecutive circuits to smooth the voltage more when required. Formaking the consumer side capable to send data, the most primitivesolution may be to substantially shortcut both nodes of the inductivityin short duration. This will equate to a primitive amplitude modulationwith the short cut change pattern as its base frequency (selected in aShannon distance to the AC supply frequency and other signal carrierfrequencies).

FIG. 12 shows a basic driver circuit which may be used as the modulatorblock 77 in FIGS. 7A and 7B. The digital input switches the carrier tothe output on and off. This will equate to an amplitude modulation withthe signal frequency as side band distance to the supplied carrierfrequency 81.

In FIGS. 9-11 the (mis-)use of a camera inherent power converter,especially a TPS54062 as active element for amplitude modulation, isshown. Such a circuit allows to have an AM modulator without adding manycomponents to the camera PCB. When a digital parameter data signal isput to the RT/CIK pin (via a small transistor as a driver), the inputcurrent of the converter rises and falls in the manner of the signal.Such a signal is detectable at the ECU side.

With both ways of having the supply power DC transmitted via inductivedecoupling from the data signals or having the supply power transmittedAC as another frequency, as discussed above, the control data will bemodulated to a carrier, and this may happen fully analog or partiallyanalog, partially digital.

As an example, but not exclusively limiting AM (amplitude modulation),FM (frequency modulation), PSM (phase shift modulation), space and timemodulation, QAM (quadrature amplitude modulation) or any combinationthereof such as APSK (asymmetric phase-shift keying) may be themodulation methods of choice. A FM may be done by using a frequencyadder. A simple adder comprises at least one non-linear component suchas a diode or the like. Analog modulation methods are well studied. Themost common solutions are available in several modifications inintegrated circuits. The complexity and costs are mostly set by thedesired signal quality especially the filter quality. The sharper thefilter edges (in the frequency domain), the more costly these are.

Alternatively, another amplitude modulation (AM) may come into use. Forexample, and with reference to FIGS. 9-11, by switching a steady single(carrier) frequency from and to the data line on which the FBAS (orother analog or digital image data format/encryption/modulation) isalready running, just this frequency and its switching harmonics willappear (such as disturbance to the FBAS or other analog or digital imagedata format/encryption/modulation) additionally. By (band-) filteringthe carrier wave on the FBAS (or other analog or digital image dataformat/encryption/modulation) receiving side (ECU or other image datareceiving device), the further image processing stages can be kept asusual.

In case it is desired that the camera also transmits data like anintrinsic parameter, feedback to control signals and the like, thecamera may also have the ability (and components) to modulate its datato an analog carrier (as a second channel to the image data into theECU's or other image receiving device's direction) as well. This carriermay be identical to (such as shown in the spectrum of FIG. 4A) ordifferent from the carrier used by the sending unit at the ECU side(such as shown in the spectrum of FIG. 4B). When using identicalcarriers, the back and forth data channel (non-image) may work in halfduplex, and when using different carriers, a full duplex may bepossible. When using different carriers, these may be chosen to havesufficient frequency distance (acc. Shannon) for no interfering to eachother.

As another option to increase the signal robustness of the video signal,also the video signal may be modulated onto a carrier using suchcircuits as shown in FIGS. 7A and 8A (DC supplied) and FIGS. 7B and 8B(AC supplied). Since the data bandwidths of the video channel may be thelargest one, the chosen carrier frequency may preferably be higher (atan adequate Shannon distance) as the control and calibration datacarrier or carriers (preferably three carriers: calibration/responsedata from camera to ECU; control/initialization data from ECU to camera;and video data from camera to ECU). Optionally, additional cameras'video data, possibly from a second imager in the same camera housing oran additionally attached or connected camera, may be transmitted overthe same coaxial cable. The additional video data stream may also bemodulated in one of the highest frequencies. Control data channels fromthe ECU or gate way to the camera(s) may be arranged in HF frequenciesbelow the video data streams. The camera calibration data may bearranged in the lowest HF frequency areas due its lowest data volume.When using DC supply in accordance with the circuits of FIGS. 7A and 8A,the LF spectrum is not present, see FIG. 4C. The chosen carrierfrequencies (such as shown in FIGS. 4C and 4E) may be about 20 MHz forthe camera calibration data channel with +/−1 MHz bandwidths, about 80MHz for the ECU control data channel with +/−1 MHz bandwidths and about140 MHz for the video data channel with +/−5.5 MHz bandwidths. Whenusing this channel configuration the video channel may be modulated FMduring the control and the calibration data channel may be modulated AM.This enables the use of common video recorder chip sets.

As an alternative option it may be possible to use (misuse) thetypically 5 MHz sound channel as one data channel carrier since inautomotive vision typically no sound transfer is required. Though thesound bandwidths is very small. Smaller than the usually LIN bandwidth(400 kHz). As an alternative when just black and white (colorless)images are to be transferred it may be possible to use (misuse) thetypically 4.43361875 MHz phase shift in which usually the color istransferred as one data channel carrier. As another aspect of thepresent invention, the carrier frequencies may be divider frequencies ofthe imager's quartz frequency.

As an option for one signal channel or a shared channel by half duplex,the control and calibration data signal may be transferred during theblank interval (block diagrams or schematics of such data transmissionset ups are shown in FIGS. 5A and 6A). The video signal gets transmittedunmodulated while the data signals are modulated by a pair ofmodulators/demodulators on each side of the coaxial cable. The accordingspectrum may be comparable to the one of FIG. 4A, preferably when usingjust one channel together with the video signal (just one carrier suchas shown in the according spectrum of FIG. 4D) (block diagrams of suchdata transmission set ups are shown in FIGS. 5B and 6B, where the videosignal gets transmitted via the identical modulator such as a frequencyadder) as the data signals. The according spectrum may be comparable tothe one of FIG. 4D.

Due to having just the sync pause time for parameter and calibrationdata transmission the possible data bandwidths is limited. The codingmay be done in a Manchester code type. As an alternative, both devicesmay be allowed to speak or communicate or transmit in order to the videoline number. In uneven lines, the ECU (or other video receiving devicesuch as a gateway between ECU and camera) may talk to or communicatewith the camera, and in even lines the camera may talk to or communicatewith the ECU (or other receiving device).

As another aspect of the present invention, the receiving unit (e. g. anECU) may use an PLL (phase lock loop) locking to a signal carrierfrequency or when using AC power supply the AC frequency instead ofgenerating it independently (on camera side). By that, frequencygenerating camera components such as a quartz or frequency dividercircuits may be eliminatable (saving cost and space and reducing thelost heat). Additionally, that configuration may be used forsynchronizing the camera or multiple cameras to the ECU (or other videoreceiving device). Optionally, the camera synchronization control (fromthe ECU to the camera) may use a phase shift modulation method duringthe calibration and control data channels (from the camera to ECU orother video receiving device) using amplitude modulation for datatransmission.

When using a camera synchronization which is switching the camerasbetween two modes such as described in U.S. patent application Ser. No.14/097,581, filed Dec. 5, 2013, now U.S. Pat. No. 9,481,301, which ishereby incorporated herein by reference in its entirety, the two modesmay be switched by two phase shift pattern. Optionally, the activecomponent of the camera voltage control (which may be AC or DC) may notbe on the camera but at the sourcing (the ECU) side. Via the analogcontrol channel, the camera may transmit a command or continuous controlto the ECU voltage source control. The voltage may be raised or loweredon the ECU based on the camera's (requested) control signal. The controlsignal may be a PWM. The signal may be merged or incorporated with othercontrol signals such as the I{circumflex over ( )}2C.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/0116043; WO2012/0145501; WO 2012/154919; WO 2013/019707; WO 2013/016409; WO2013/019795; WO 2013/067083; WO 2013/070539; WO 2013/043661; WO2013/048994; WO 2013/063014, WO 2013/081984; WO 2013/081985; WO2013/074604; WO 2013/086249; WO 2013/103548; WO 2013/109869; WO2013/123161; WO 2013/126715; WO 2013/043661 and/or WO 2013/158592,and/or U.S. patent application Ser. No. 14/272,834, filed May 8, 2014,now U.S. Pat. No. 9,280,202; Ser. No. 14/356,330, filed May 5, 2014, nowU.S. Pat. No. 9,604,581; Ser. No. 14/269,788, filed May 5, 2014, nowU.S. Pat. No. 9,508,014; Ser. No. 14/268,169, filed May 2, 2014, andpublished on Nov. 6, 2014 as U.S. Patent Publication No.US-2014-0327772; Ser. No. 14/264,443, filed Apr. 29, 2014, now U.S. Pat.No. 10,232,797; Ser. No. 14/354,675, filed Apr. 28, 2014, now U.S. Pat.No. 9,580,013; Ser. No. 14/248,602, filed Apr. 9, 2014, now U.S. Pat.No. 9,327,693; Ser. No. 14/242,038, filed Apr. 1, 2014, now U.S. Pat.No. 9,487,159; Ser. No. 14/229,061, filed Mar. 28, 2014, now U.S. Pat.No. 10,027,930; Ser. No. 14/343,937, filed Mar. 10, 2014, now U.S. Pat.No. 9,681,062; Ser. No. 14/343,936, filed Mar. 10, 2014, and publishedon Aug. 7, 2014 as U.S. Patent Publication No. US-2014-0218535; Ser. No.14/195,135, filed Mar. 3, 2014, now U.S. Pat. No. 9,688,200; Ser. No.14/195,136, filed Mar. 3, 2014, now U.S. Pat. No. 10,057,544; Ser. No.14/191,512, filed Feb. 27, 2014, now U.S. Pat. No. 10,179,543; Ser. No.14/183,613, filed Feb. 19, 2014, now U.S. Pat. No. 9,445,057; Ser. No.14/169,329, filed Jan. 31, 2014, and published on Aug. 7, 2014 as U.S.Patent Publication No. US-2014-0218529; Ser. No. 14/169,328, filed Jan.31, 2014, now U.S. Pat. No. 9,092,986; Ser. No. 14/163,325, filed Jan.24, 2014, and published Jul. 31, 2014 and U.S. Patent Publication No.US-2014-0211009; Ser. No. 14/159,772, filed Jan. 21, 2014, now U.S. Pat.No. 9,068,390; Ser. No. 14/107,624, filed Dec. 16, 2013, now U.S. Pat.No. 9,140,789; Ser. No. 14/102,981, filed Dec. 11, 2013, now U.S. Pat.No. 9,558,409; Ser. No. 14/102,980, filed Dec. 11, 2013, and publishedon Jun. 19, 2014 as U.S. Patent Publication No. US-2014-0168437; Ser.No. 14/098,817, filed Dec. 6, 2013, and published on Jun. 19, 2014 asU.S. Patent Publication No. US-2014-0168415-A1; Ser. No. 14/097,581,filed Dec. 5, 2013, now U.S. Pat. No. 9,481,301; Ser. No. 14/093,981,filed Dec. 2, 2013, now U.S. Pat. No. 8,917,169*; Ser. No. 14/093,980,filed Dec. 2, 2013, now U.S. Pat. No. 10,025,994; Ser. No. 14/082,573,filed Nov. 18, 2013, now U.S. Pat. No. 9,743,002; Ser. No. 14/082,574,filed Nov. 18, 2013, now U.S. Pat. No. 9,307,640; Ser. No. 14/082,575,filed Nov. 18, 2013, now U.S. Pat. No. 9,090,234; Ser. No. 14/082,577,filed Nov. 18, 2013, now U.S. Pat. No. 8,818,042; Ser. No. 14/071,086,filed Nov. 4, 2013, now U.S. Pat. No. 8,886,401; Ser. No. 14/076,524,filed Nov. 11, 2013, now U.S. Pat. No. 9,077,962; Ser. No. 14/052,945,filed Oct. 14, 2013, now U.S. Pat. No. 9,707,896; Ser. No. 14/046,174,filed Oct. 4, 2013, now U.S. Pat. No. 9,723,272; Ser. No. 14/016,790,filed Oct. 3, 2013, now U.S. Pat. No. 9,761,142; Ser. No. 14/036,723,filed Sep. 25, 2013, now U.S. Pat. No. 9,446,713; Ser. No. 14/016,790,filed Sep. 3, 2013, now U.S. Pat. No. 9,761,142; Ser. No. 14/001,272,filed Aug. 23, 2013, now U.S. Pat. No. 9,233,641; Ser. No. 13/970,868,filed Aug. 20, 2013, now U.S. Pat. No. 9,365,162; Ser. No. 13/964,134,filed Aug. 12, 2013, now U.S. Pat. No. 9,340,227; Ser. No. 13/942,758,filed Jul. 16, 2013, and published on Jan. 23, 2014 as U.S. PatentPublication No. US-2014-0025240; Ser. No. 13/942,753, filed Jul. 16,2013, and published on Jan. 30, 2014 as U.S. Patent Publication No.US-2014-0028852; Ser. No. 13/927,680, filed Jun. 26, 2013, and publishedon Jan. 2, 2014 as U.S. Patent Publication No. US-2014-0005907; Ser. No.13/916,051, filed Jun. 12, 2013, now U.S. Pat. No. 9,077,098; Ser. No.13/894,870, filed May 15, 2013, now U.S. Pat. No. 10,089,537; Ser. No.13/887,724, filed May 6, 2013, now U.S. Pat. No. 9,670,895; Ser. No.13/852,190, filed Mar. 28, 2013, now U.S. Pat. No. 10,457,209; Ser. No.13/851,378, filed Mar. 27, 2013, now U.S. Pat. No. 9,319,637; Ser. No.13/848,796, filed Mar. 22, 2012, and published on Oct. 24, 2013 as U.S.Patent Publication No. US-2013-0278769; Ser. No. 13/847,815, filed Mar.20, 2013, and published on Oct. 21, 2013 as U.S. Patent Publication No.US-2013-0286193; Ser. No. 13/800,697, filed Mar. 13, 2013, now U.S. Pat.No. 10,182,228; Ser. No. 13/785,099, filed Mar. 5, 2013, now U.S. Pat.No. 9,565,342; Ser. No. 13/779,881, filed Feb. 28, 2013, now U.S. Pat.No. 8,694,224; Ser. No. 13/774,317, filed Feb. 22, 2013, now U.S. Pat.No. 9,269,263; Ser. No. 13/774,315, filed Feb. 22, 2013, and publishedAug. 22, 2013 as U.S. Patent Publication No. US-2013-0215271; Ser. No.13/681,963, filed Nov. 20, 2012, now U.S. Pat. No. 9,264,673; Ser. No.13/660,306, filed Oct. 25, 2012, now U.S. Pat. No. 9,146,898; Ser. No.13/653,577, filed Oct. 17, 2012, now U.S. Pat. No. 9,174,574; and/orSer. No. 13/534,657, filed Jun. 27, 2012, and published on Jan. 3, 2013as U.S. Patent Publication No. US-2013/0002873, and/or U.S. provisionalapplications, Ser. 61/991,810, filed May 12, 2014; Ser. No. 61/991,809,filed May 12, 2014; Ser. No. 61/990,927, filed May 9, 2014; Ser. No.61/989,652, filed May 7, 2014; Ser. No. 61/981,938, filed Apr. 21, 2014;Ser. No. 61/981,937, filed Apr. 21, 2014; Ser. No. 61/977,941, filedApr. 10, 2014; Ser. No. 61/977,940, filed Apr. 10, 2014; Ser. No.61/977,929, filed Apr. 10, 2014; Ser. No. 61/977,928, filed Apr. 10,2014; Ser. No. 61/973,922, filed Apr. 2, 2014; Ser. No. 61/972,708,filed Mar. 31, 2014; Ser. No. 61/972,707, filed Mar. 31, 2014; Ser. No.61/969,474, filed Mar. 24, 2014; Ser. No. 61/955,831, filed Mar. 20,2014; Ser. No. 61/953,970, filed Mar. 17, 2014; Ser. No. 61/952,335,filed Mar. 13, 2014; Ser. No. 61/952,334, filed Mar. 13, 2014; Ser. No.61/950,261, filed Mar. 10, 2014; Ser. No. 61/950,261, filed Mar. 10,2014; Ser. No. 61/947,638, filed Mar. 4, 2014; Ser. No. 61/947,053,filed Mar. 3, 2014; Ser. No. 61/941,568, filed Feb. 19, 2014; Ser. No.61/935,485, filed Feb. 4, 2014; Ser. No. 61/935,057, filed Feb. 3, 2014;Ser. No. 61/935,056, filed Feb. 3, 2014; Ser. No. 61/935,055, filed Feb.3, 2014; Ser. 61/931,811, filed Jan. 27, 2014; Ser. No. 61/919,129,filed Dec. 20, 2013; Ser. No. 61/919,130, filed Dec. 20, 2013; Ser. No.61/919,131, filed Dec. 20, 2013; Ser. No. 61/919,147, filed Dec. 20,2013; Ser. No. 61/919,138, filed Dec. 20, 2013, Ser. No. 61/919,133,filed Dec. 20, 2013; Ser. No. 61/918,290, filed Dec. 19, 2013; Ser. No.61/915,218, filed Dec. 12, 2013; Ser. No. 61/912,146, filed Dec. 5,2013; Ser. No. 61/911,666, filed Dec. 4, 2013; Ser. No. 61/911,665,filed Dec. 4, 2013; Ser. No. 61/905,461, filed Nov. 18, 2013; Ser. No.61/905,462, filed Nov. 18, 2013; Ser. No. 61/901,127, filed Nov. 7,2013; Ser. No. 61/895,610, filed Oct. 25, 2013; Ser. No. 61/895,609,filed Oct. 25, 2013; Ser. No. 61/879,837, filed Sep. 19, 2013; Ser. No.61/879,835, filed Sep. 19, 2013; Ser. No. 61/878,877, filed Sep. 17,2013; Ser. No. 61/875,351, filed Sep. 9, 2013; Ser. No. 61/869,195,filed. Aug. 23, 2013; Ser. No. 61/864,835, filed Aug. 12, 2013; Ser. No.61/864,836, filed Aug. 12, 2013; Ser. No. 61/864,837, filed Aug. 12,2013; Ser. No. 61/864,838, filed Aug. 12, 2013; Ser. No. 61/856,843,filed Jul. 22, 2013, Ser. No. 61/845,061, filed Jul. 11, 2013; Ser. No.61/844,630, filed Jul. 10, 2013; Ser. No. 61/844,173, filed Jul. 9,2013; Ser. No. 61/844,171, filed Jul. 9, 2013; Ser. No. 61/842,644,filed Jul. 3, 2013; Ser. No. 61/840,542, filed Jun. 28, 2013; Ser. No.61/838,619, filed Jun. 24, 2013; Ser. No. 61/838,621, filed Jun. 24,2013; Ser. No. 61/837,955, filed Jun. 21, 2013; Ser. No. 61/836,900,filed Jun. 19, 2013; Ser. No. 61/836,380, filed Jun. 18, 2013; Ser. No.61/833,080, filed Jun. 10, 2013; Ser. No. 61/830,375, filed Jun. 3,2013; Ser. No. 61/830,377, filed Jun. 3, 2013; Ser. No. 61/825,752,filed May 21, 2013; Ser. No. 61/825,753, filed May 21, 2013; Ser. No.61/823,648, filed May 15, 2013; and/or Ser. No. 61/823,644, filed May15, 2013; which are all hereby incorporated herein by reference in theirentireties. The system may communicate with other communication systemsvia any suitable means, such as by utilizing aspects of the systemsdescribed in International Publication Nos. WO 2010/144900; WO2013/043661 and/or WO 2013/081985, and/or U.S. patent application Ser.No. 13/202,005, filed Aug. 17, 2011, now U.S. Pat. No. 9,126,525, whichare hereby incorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and/or 6,824,281, and/or International Publication Nos. WO2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. Pat.Publication No. US 2010-0020170, and/or U.S. patent application Ser. No.13/534,657, filed Jun. 27, 2012, and published on Jan. 3, 2013 as U.S.Patent Publication No. US-2013/0002873, which are all herebyincorporated herein by reference in their entireties. The camera orcameras may comprise any suitable cameras or imaging sensors or cameramodules, and may utilize aspects of the cameras or sensors described inU.S. Publication No. US-2009-0244361 and/or U.S. patent application Ser.No. 13/260,400, filed Sep. 26, 2011, now U.S. Pat. Nos. 8,542,451,and/or 7,965,336 and/or 7,480,149, which are hereby incorporated hereinby reference in their entireties. The imaging array sensor may compriseany suitable sensor, and may utilize various imaging sensors or imagingarray sensors or cameras or the like, such as a CMOS imaging arraysensor, a CCD sensor or other sensors or the like, such as the typesdescribed in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093;5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719; 6,201,642;6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435; 6,831,261;6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149; 7,038,577;7,004,606; 7,720,580 and/or 7,965,336, and/or International PublicationNos. WO 2009/036176 and/or WO 2009/046268, which are all herebyincorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,881,496; 7,720,580; 7,038,577;5,929,786 and/or 5,786,772, and/or U.S. provisional applications, Ser.No. 60/628,709, filed Nov. 17, 2004; Ser. No. 60/614,644, filed Sep. 30,2004; Ser. No. 60/618,686, filed Oct. 14, 2004; Ser. No. 60/638,687,filed Dec. 23, 2004, which are hereby incorporated herein by referencein their entireties, a video device for internal cabin surveillanceand/or video telephone function, such as disclosed in U.S. Pat. Nos.5,760,962; 5,877,897; 6,690,268 and/or 7,370,983, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties, a traffic sign recognition system, asystem for determining a distance to a leading or trailing vehicle orobject, such as a system utilizing the principles disclosed in U.S. Pat.Nos. 6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. Nos. 7,255,451 and/or7,480,149; and/or U.S. Publication No. US-2006-0061008 and/or U.S.patent application Ser. No. 12/578,732, filed Oct. 14, 2009, now U.S.Pat. No. 9,487,144, which are hereby incorporated herein by reference intheir entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. Publication No.US-2006-0061008, which are all hereby incorporated herein by referencein their entireties. Optionally, the video mirror display screen ordevice may be operable to display images captured by a rearward viewingcamera of the vehicle during a reversing maneuver of the vehicle (suchas responsive to the vehicle gear actuator being placed in a reversegear position or the like) to assist the driver in backing up thevehicle, and optionally may be operable to display the compass headingor directional heading character or icon when the vehicle is notundertaking a reversing maneuver, such as when the vehicle is beingdriven in a forward direction along a road (such as by utilizing aspectsof the display system described in International Publication No. WO2012/051500, which is hereby incorporated herein by reference in itsentirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011,now U.S. Pat. No. 9,264,672, which are hereby incorporated herein byreference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. Publication Nos. US-2006-0061008 and/orUS-2006-0050018, which are all hereby incorporated herein by referencein their entireties. The display is viewable through the reflectiveelement when the display is activated to display information. Thedisplay element may be any type of display element, such as a vacuumfluorescent (VF) display element, a light emitting diode (LED) displayelement, such as an organic light emitting diode (OLED) or an inorganiclight emitting diode, an electroluminescent (EL) display element, aliquid crystal display (LCD) element, a video screen display element orbacklit thin film transistor (TFT) display element or the like, and maybe operable to display various information (as discrete characters,icons or the like, or in a multi-pixel manner) to the driver of thevehicle, such as passenger side inflatable restraint (PSIR) information,tire pressure status, and/or the like. The mirror assembly and/ordisplay may utilize aspects described in U.S. Pat. Nos. 7,184,190;7,255,451; 7,446,924 and/or 7,338,177, which are all hereby incorporatedherein by reference in their entireties. The thicknesses and materialsof the coatings on the substrates of the reflective element may beselected to provide a desired color or tint to the mirror reflectiveelement, such as a blue colored reflector, such as is known in the artand such as described in U.S. Pat. Nos. 5,910,854; 6,420,036 and/or7,274,501, which are hereby incorporated herein by reference in theirentireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A vehicular multi-camera vision system, said vehicular multi-cameravision system comprising: a plurality of cameras disposed at a vehicleequipped with said vehicular multi-camera vision system, wherein eachcamera of the plurality of cameras, when disposed at the equippedvehicle, has a respective field of view exterior of the equippedvehicle, and wherein each camera of the plurality of cameras is operableto capture image data; wherein each camera of the plurality of camerascomprises a CMOS imaging sensor comprising a two-dimensional imagingarray of at least one million photosensor elements; an electroniccontrol unit (ECU) operable to process image data; wherein each cameraof the plurality of cameras is connected with said ECU via a respectivecoaxial cable; wherein each respective coaxial cable comprises a singlecore wire and a shielding layer that circumscribes the single core wireand that is electrically isolated from the single core wire; whereineach respective coaxial cable (i) carries image data captured by therespective camera of the plurality of cameras from the respective cameraof the plurality of cameras to said ECU, (ii) carries camera controldata from said ECU to the respective camera of the plurality of camerasand (iii) connects a DC power supply of said ECU to the respectivecamera of the plurality of cameras for powering the respective camera;wherein camera control data is carried by the respective coaxial cablefrom said ECU to the respective camera of the plurality of cameras at acontrol data carrier frequency having an associated control datafrequency bandwidth; wherein image data is carried by the respectivecoaxial cable from the respective camera of the plurality of cameras tosaid ECU at an image data carrier frequency having an associated imagedata frequency bandwidth; wherein the control data carrier frequencyhaving the associated control data frequency bandwidth is lower than theimage data carrier frequency having the associated image data frequencybandwidth; wherein no frequency within the control data frequencybandwidth of the control data carrier frequency overlaps with anyfrequency within the image data frequency bandwidth of the image datacarrier frequency; and wherein each respective camera of the pluralityof cameras is part of a bird's eye surround view vision system of theequipped vehicle.
 2. The vehicular multi-camera vision system of claim1, wherein the plurality of cameras comprises at least (i) a frontcamera disposed at a front portion of the equipped vehicle, (ii) a rearcamera disposed at a rear portion of the equipped vehicle, (iii) adriver-side camera disposed at a driver side portion of the equippedvehicle and (iv) a passenger-side camera disposed at a passenger sideportion of the equipped vehicle.
 3. The vehicular multi-camera visionsystem of claim 2, wherein, responsive to a driver of the equippedvehicle placing a gear actuator of the equipped vehicle in a reversegear position, color video images derived from image data captured bythe rear camera are displayed during a reversing maneuver of theequipped vehicle at a video display device of the equipped vehicle toassist the driver in backing up the equipped vehicle.
 4. The vehicularmulti-camera vision system of claim 3, wherein the video display deviceof the equipped vehicle is disposed in an interior rearview mirrorassembly of the equipped vehicle.
 5. The vehicular multi-camera visionsystem of claim 3, wherein each of the respective coaxial cables carriescalibration data from the respective camera of the plurality of camerasto said ECU.
 6. The vehicular multi-camera vision system of claim 3,wherein each of the respective coaxial cables carries at least oneintrinsic parameter of the respective camera from the respective cameraof the plurality of cameras to said ECU.
 7. The vehicular multi-cameravision system of claim 3, wherein camera control data carried by therespective coaxial cable from said ECU to the respective cameracomprises initialization data.
 8. The vehicular multi-camera visionsystem of claim 2, wherein image data carried to said ECU from therespective cameras are image processed at said ECU to form a bird's eyesurround view of an environment at least partially surrounding theequipped vehicle, and wherein the driver-side camera is disposed withina driver-side exterior rearview mirror assembly of the equipped vehicle,and wherein the passenger-side camera is disposed within apassenger-side exterior rearview mirror assembly of the equippedvehicle.
 9. The vehicular multi-camera vision system of claim 8,wherein, responsive to a driver of the equipped vehicle placing a gearactuator of the equipped vehicle in a reverse gear position, color videoimages derived from image data captured by the rear camera are displayedduring a reversing maneuver of the equipped vehicle at a video displaydevice of the equipped vehicle to assist the driver in backing up theequipped vehicle.
 10. The vehicular multi-camera vision system of claim8, wherein said ECU comprises an image processor operable to processesimage data captured by the rear camera of the plurality of cameras andcarried to said ECU via the coaxial cable connecting the rear camera tosaid ECU, and wherein, responsive to such image processing, an objectpresent in a rearward path of travel of the equipped vehicle isdetected.
 11. The vehicular multi-camera vision system of claim 10,wherein the detected object is a pedestrian.
 12. The vehicularmulti-camera vision system of claim 10, wherein the detected object is avehicle.
 13. The vehicular multi-camera vision system of claim 10,wherein, when the object is detected, an alert to a driver of theequipped vehicle is generated in order to enhance the driver's awarenessof the presence of the detected object in the rearward path of travel ofthe equipped vehicle.
 14. The vehicular multi-camera vision system ofclaim 10, wherein color video images derived from image data captured bythe rear camera are displayed during a reversing maneuver of theequipped vehicle at a video display device of the equipped, and whereinan image of the detected object as displayed at the video display devicedisplayed is highlighted.
 15. The vehicular multi-camera vision systemof claim 2, wherein image data carried to said ECU from the respectivecameras are image processed at said ECU to form a bird's eye surroundview of an environment at least partially surrounding the equippedvehicle.
 16. The vehicular multi-camera vision system of claim 15,wherein said ECU outputs the bird's eye surround view to a video displaydevice of the equipped vehicle for display on a video display screen ofthe video display device for viewing by a driver of the equipped vehicleduring a driving maneuver of the equipped vehicle.
 17. The vehicularmulti-camera vision system of claim 16, wherein the video display screenof the video display device comprises an organic light emitting diode(OLED) video display screen.
 18. The vehicular multi-camera visionsystem of claim 16, wherein the video display screen of the videodisplay device comprises thin film transistor (TFT) liquid crystaldisplay (LCD) video display screen.
 19. The vehicular multi-cameravision system of claim 2, wherein, responsive to a driver of theequipped vehicle placing a gear actuator of the equipped vehicle in areverse gear position, color video images derived from image datacaptured by the rear camera are displayed during a reversing maneuver ofthe equipped vehicle at a video display device of the equipped vehicleto assist the driver in backing up the equipped vehicle, and wherein thevideo display device comprises a thin film transistor (TFT) liquidcrystal display (LCD) video display screen.
 20. The vehicularmulti-camera vision system of claim 2, wherein, responsive to a driverof the equipped vehicle placing a gear actuator of the equipped vehiclein a reverse gear position, color video images derived from image datacaptured by the rear camera are displayed during a reversing maneuver ofthe equipped vehicle at a video display device of the equipped vehicleto assist the driver in backing up the equipped vehicle, and wherein thevideo display device comprises an organic light emitting diode (OLED)video display screen.
 21. The vehicular multi-camera vision system ofclaim 1, wherein each of the respective coaxial cables carriescalibration data from the respective camera of the plurality of camerasto said ECU.
 22. The vehicular multi-camera vision system of claim 1,wherein each of the respective coaxial cables carries data other thanimage data from the respective camera of the plurality of cameras tosaid ECU.
 23. The vehicular multi-camera vision system of claim 22,wherein the other data comprises at least one intrinsic parameter of therespective camera.
 24. The vehicular multi-camera vision system of claim1, wherein camera control data carried by the respective coaxial cablefrom said ECU to the respective camera comprises initialization data.25. The vehicular multi-camera vision system of claim 1, wherein each ofthe respective coaxial cables carries calibration data from therespective camera of the plurality of cameras to said ECU, and whereincalibration data is carried by the respective coaxial cable from therespective camera of the plurality of cameras to said ECU at acalibration data carrier frequency having an associated calibration datafrequency bandwidth, and wherein the calibration data carrier frequencyfor carrying calibration data on the respective coaxial cable from therespective camera of the plurality of cameras to said ECU is lower thanthe image data carrier frequency for carrying image data on therespective coaxial cable from the respective camera of the plurality ofcameras to said ECU, and wherein the control data carrier frequency forcarrying control data on the respective coaxial cable from said ECU tothe respective camera is higher than the calibration data carrierfrequency for carrying calibration data on the respective coaxial cablefrom the respective camera of the plurality of cameras to said ECU, andwherein no frequency within the control data frequency bandwidth of thecontrol data carrier frequency overlaps with any frequency within thecalibration data frequency bandwidth of the calibration data carrierfrequency.
 26. The vehicular multi-camera vision system of claim 25,wherein the image data carrier frequency on the respective coaxial cableis modulated, and wherein an amplitude of a signal carrying cameracontrol data on the respective coaxial cable is modulated.
 27. Thevehicular multi-camera vision system of claim 1, wherein the controldata carrier frequency of camera control data carried by the respectivecoaxial cable from said ECU to the respective camera has a frequencythat has a sufficient Shannon distance from the image data carrierfrequency of image data carried by the respective coaxial cable from therespective camera of the plurality of cameras to said ECU.
 28. Thevehicular multi-camera vision system of claim 1, wherein said ECUcomprises an image processor operable to processes image data capturedby the respective cameras of the plurality of cameras and carried tosaid ECU via the respective coaxial cables.
 29. The vehicularmulti-camera vision system of claim 28, wherein said image processorprocesses image data captured by the respective cameras of the pluralityof cameras and carried to said ECU via the respective coaxial cables fordetecting objects present exterior the equipped vehicle.
 30. Thevehicular multi-camera vision system of claim 1, wherein the shieldinglayer that circumscribes the single core wire of each respective coaxialcable comprises an inner shielding layer and an outer shielding layer,and wherein the outer shielding layer circumscribes the inner shieldinglayer, and wherein the outer shielding layer is electrically isolatedfrom the inner shielding layer.
 31. The vehicular multi-camera visionsystem of claim 30, wherein electrical voltage for powering eachrespective camera of the plurality of cameras is carried by the innerand outer shielding layers of the respective coaxial cables.
 32. Thevehicular multi-camera vision system of claim 31, wherein one of theinner and outer shielding layers is electrically connected to negativevoltage or ground and the other of the inner and outer shielding layersis electrically connected to positive voltage.
 33. The vehicularmulti-camera vision system of claim 1, wherein said ECU utilizes phaselock loop locking to a signal carrier frequency carried by at least someof the respective coaxial cables.
 34. The vehicular multi-camera visionsystem of claim 1, wherein said vehicular multi-camera vision system isoperable to carry camera control data via modulation of a carrier waveof at least one analog signal, and wherein the carrier wave has afrequency that is outside the image data frequency bandwidth of signalscarrying image data on any respective one of at least some of therespective coaxial cables.
 35. The vehicular multi-camera vision systemof claim 1, wherein calibration data of each respective camera of theplurality of cameras is carried by the respective coaxial cable from therespective camera of the plurality of cameras to said ECU at acalibration data carrier frequency that is lower than the image datacarrier frequency for carrying image data on the respective coaxialcable from the respective camera of the plurality of cameras to saidECU, and wherein the control data carrier frequency for carrying controldata on the respective coaxial cable from said ECU to the respectivecamera is higher than the calibration data carrier frequency forcarrying calibration data on the respective coaxial cable from therespective camera of the plurality of cameras to said ECU.
 36. Thevehicular multi-camera vision system of claim 1, wherein at least oneintrinsic parameter of each respective camera of the plurality ofcameras is carried by the respective coaxial cable from the respectivecamera of the plurality of cameras to said ECU at a carrier frequencythat is lower than the image data carrier frequency for carrying imagedata on the respective coaxial cable from the respective camera of theplurality of cameras to said ECU, and wherein the control data carrierfrequency for carrying control data on the respective coaxial cable fromsaid ECU to the respective camera is higher than the at least oneintrinsic parameter of the respective camera carried by the respectivecoaxial cable from the respective camera of the plurality of cameras tosaid ECU.
 37. The vehicular multi-camera vision system of claim 1,wherein the control data carrier frequency is about 80 MHz and theassociated control data frequency bandwidth is +/1 MHz.
 38. Thevehicular multi-camera vision system of claim 1, wherein the image datacarrier frequency is about 140 MHz and the associated image datafrequency bandwidth is +/−5.5 MHz.
 39. The vehicular multi-camera visionsystem of claim 1, wherein calibration data of each respective camera ofthe plurality of cameras is carried by the respective coaxial cable fromthe respective camera of the plurality of cameras to said ECU at acalibration data carrier frequency of about 20 MHz having an associatedcalibration data frequency bandwidth of +/−1 MHz.
 40. The vehicularmulti-camera vision system of claim 1, wherein each of the respectivecoaxial cables carries calibration data from the respective camera ofthe plurality of cameras to said ECU via amplitude modulation (AM) of acalibration data carrier frequency.
 41. The vehicular multi-cameravision system of claim 40, wherein each of the respective coaxial cablescarries image data from the respective camera of the plurality ofcameras to said ECU via frequency modulation of the image data carrierfrequency.
 42. The vehicular multi-camera vision system of claim 1,wherein said ECU comprises an image processor operable to processesimage data captured by the respective cameras of the plurality ofcameras and carried to said ECU via the respective coaxial cables, andwherein said image processor comprises an image processing chip, andwherein said image processing chip processes image data captured by therespective cameras of the plurality of cameras and carried to said ECUvia the respective coaxial cables for detecting an object presentexterior the equipped vehicle.
 43. The vehicular multi-camera visionsystem of claim 42, wherein the object present exterior the equippedvehicle comprises a pedestrian.
 44. The vehicular multi-camera visionsystem of claim 42, wherein the object present exterior the equippedvehicle comprises a vehicle.
 45. A vehicular multi-camera vision system,said vehicular multi-camera vision system comprising: a plurality ofcameras disposed at a vehicle equipped with said vehicular multi-cameravision system, wherein each camera of the plurality of cameras, whendisposed at the equipped vehicle, has a respective field of viewexterior of the equipped vehicle, and wherein each camera of theplurality of cameras is operable to capture image data; wherein eachcamera of the plurality of cameras comprises an imaging sensorcomprising a two-dimensional imaging array of at least one millionphotosensor elements; wherein the plurality of cameras comprises atleast (i) a front camera disposed at a front portion of the equippedvehicle, (ii) a rear camera disposed at a rear portion of the equippedvehicle, (iii) a driver-side camera disposed at a driver side portion ofthe equipped vehicle and (iv) a passenger-side camera disposed at apassenger side portion of the equipped vehicle; wherein the driver-sidecamera is disposed within a driver-side exterior rearview mirrorassembly of the equipped vehicle, and wherein the passenger-side camerais disposed within a passenger-side exterior rearview mirror assembly ofthe equipped vehicle; an electronic control unit (ECU) operable toprocess image data; wherein each camera of the plurality of cameras isconnected with said ECU via a respective coaxial cable; wherein eachrespective coaxial cable comprises a single core wire and a shieldinglayer that circumscribes the single core wire and that is electricallyisolated from the single core wire; wherein each respective coaxialcable (i) carries image data captured by the respective camera of theplurality of cameras from the respective camera of the plurality ofcameras to said ECU, (ii) carries camera control data from said ECU tothe respective camera of the plurality of cameras and (iii) connects aDC power supply of said ECU to the respective camera of the plurality ofcameras for powering the respective camera; wherein camera control datais carried by the respective coaxial cable from said ECU to therespective camera of the plurality of cameras at a control data carrierfrequency having an associated control data frequency bandwidth; whereinimage data is carried by the respective coaxial cable from therespective camera of the plurality of cameras to said ECU at an imagedata carrier frequency having an associated image data frequencybandwidth; wherein the control data carrier frequency having theassociated control data frequency bandwidth is lower than the image datacarrier frequency having the associated image data frequency bandwidth;wherein no frequency within the control data frequency bandwidth of thecontrol data carrier frequency overlaps with any frequency within theimage data frequency bandwidth of the image data carrier frequency;wherein each respective camera of the plurality of cameras is part of abird's eye surround view vision system of the equipped vehicle; whereinsaid ECU outputs the bird's eye surround view to a video display deviceof the equipped vehicle for display on a video display screen of thevideo display device for viewing by a driver of the equipped vehicle;and wherein, responsive to the driver of the equipped vehicle placing agear actuator of the equipped vehicle in a reverse gear position, colorvideo images derived from image data captured by the rear camera aredisplayed during a reversing maneuver of the equipped vehicle at thevideo display screen of the video display device of the equipped vehicleto assist the driver in backing up the equipped vehicle.
 46. Thevehicular multi-camera vision system of claim 45, wherein each of therespective coaxial cables carries calibration data from the respectivecamera of the plurality of cameras to said ECU.
 47. The vehicularmulti-camera vision system of claim 45, wherein each of the respectivecoaxial cables carries data other than image data from the respectivecamera of the plurality of cameras to said ECU.
 48. The vehicularmulti-camera vision system of claim 47, wherein the other data comprisesat least one intrinsic parameter of the respective camera.
 49. Thevehicular multi-camera vision system of claim 45, wherein camera controldata carried by the respective coaxial cable from said ECU to therespective camera comprises initialization data.
 50. The vehicularmulti-camera vision system of claim 45, wherein each of the respectivecoaxial cables carries calibration data from the respective camera ofthe plurality of cameras to said ECU, and wherein calibration data iscarried by the respective coaxial cable from the respective camera ofthe plurality of cameras to said ECU at a calibration data carrierfrequency having an associated calibration data frequency bandwidth, andwherein the calibration data carrier frequency for carrying calibrationdata on the respective coaxial cable from the respective camera of theplurality of cameras to said ECU is lower than the image data carrierfrequency for carrying image data on the respective coaxial cable fromthe respective camera of the plurality of cameras to said ECU, andwherein the control data carrier frequency for carrying control data onthe respective coaxial cable from said ECU to the respective camera ishigher than the calibration data carrier frequency for carryingcalibration data on the respective coaxial cable from the respectivecamera of the plurality of cameras to said ECU, and wherein no frequencywithin the control data frequency bandwidth of the control data carrierfrequency overlaps with any frequency within the calibration datafrequency bandwidth of the calibration data carrier frequency.
 51. Thevehicular multi-camera vision system of claim 50, wherein the image datacarrier frequency on the respective coaxial cable is modulated, andwherein an amplitude of a signal carrying camera control data on therespective coaxial cable is modulated.
 52. The vehicular multi-cameravision system of claim 45, wherein the control data carrier frequency ofcamera control data carried by the respective coaxial cable from saidECU to the respective camera has a frequency that has a sufficientShannon distance from the image data carrier frequency of image datacarried by the respective coaxial cable from the respective camera ofthe plurality of cameras to said ECU.
 53. The vehicular multi-cameravision system of claim 45, wherein said ECU comprises an image processoroperable to processes image data captured by the respective cameras ofthe plurality of cameras and carried to said ECU via the respectivecoaxial cables.
 54. The vehicular multi-camera vision system of claim53, wherein said image processor processes image data captured by therespective cameras of the plurality of cameras and carried to said ECUvia the respective coaxial cables for detecting objects present exteriorthe equipped vehicle.
 55. The vehicular multi-camera vision system ofclaim 45, wherein said ECU comprises an image processor, and whereinsaid image processor processes image data captured by the rear camera ofthe plurality of cameras and carried to said ECU from the rear cameraduring the reversing maneuver of the equipped vehicle, and wherein,responsive to such image processing, an object present in a rearwardpath of travel of the equipped vehicle is detected.
 56. The vehicularmulti-camera vision system of claim 55, wherein the detected object is apedestrian.
 57. The vehicular multi-camera vision system of claim 55,wherein the detected object is a vehicle.
 58. The vehicular multi-cameravision system of claim 55, wherein, when the object is detected, analert to the driver of the equipped vehicle is generated in order toenhance the driver's awareness of the presence of the detected object inthe rearward path of travel of the equipped vehicle.
 59. The vehicularmulti-camera vision system of claim 58, wherein an image of the detectedobject as displayed at the video display device displayed ishighlighted.
 60. The vehicular multi-camera vision system of claim 45,wherein said ECU utilizes phase lock loop locking to a signal carrierfrequency carried by at least some of the respective coaxial cables. 61.The vehicular multi-camera vision system of claim 45, wherein saidvehicular multi-camera vision system is operable to carry camera controldata via modulation of a carrier wave of at least one analog signal, andwherein the carrier wave has a frequency that is outside the image datafrequency bandwidth of signals carrying image data on any respective oneof at least some of the respective coaxial cables.
 62. The vehicularmulti-camera vision system of claim 45, wherein calibration data of eachrespective camera of the plurality of cameras is carried by therespective coaxial cable from the respective camera of the plurality ofcameras to said ECU at a calibration data carrier frequency that islower than the image data carrier frequency for carrying image data onthe respective coaxial cable from the respective camera of the pluralityof cameras to said ECU, and wherein the control data carrier frequencyfor carrying control data on the respective coaxial cable from said ECUto the respective camera is higher than the calibration data carrierfrequency for carrying calibration data on the respective coaxial cablefrom the respective camera of the plurality of cameras to said ECU. 63.The vehicular multi-camera vision system of claim 62, wherein nofrequency within the control data frequency bandwidth of the controldata carrier frequency overlaps with any frequency within a calibrationdata frequency bandwidth of the calibration data carrier frequency. 64.The vehicular multi-camera vision system of claim 45, wherein at leastone intrinsic parameter of each respective camera of the plurality ofcameras is carried by the respective coaxial cable from the respectivecamera of the plurality of cameras to said ECU at a carrier frequencythat is lower than the image data carrier frequency for carrying imagedata on the respective coaxial cable from the respective camera of theplurality of cameras to said ECU, and wherein the control data carrierfrequency for carrying control data on the respective coaxial cable fromsaid ECU to the respective camera is higher than the at least oneintrinsic parameter of the respective camera carried by the respectivecoaxial cable from the respective camera of the plurality of cameras tosaid ECU.
 65. The vehicular multi-camera vision system of claim 45,wherein each of the respective coaxial cables carries at least oneintrinsic parameter of the respective camera from the respective cameraof the plurality of cameras to said ECU.
 66. The vehicular multi-cameravision system of claim 65, wherein camera control data carried by therespective coaxial cable from said ECU to the respective cameracomprises initialization data.
 67. The vehicular multi-camera visionsystem of claim 45, wherein the video display device comprises a thinfilm transistor (TFT) liquid crystal display (LCD) video display screen.68. The vehicular multi-camera vision system of claim 45, wherein thevideo display device comprises an organic light emitting diode (OLED)video display screen.
 69. The vehicular multi-camera vision system ofclaim 45, wherein image data carried to said ECU from the respectivecameras are image processed at said ECU to form a bird's eye surroundview of an environment at least partially surrounding the equippedvehicle.
 70. The vehicular multi-camera vision system of claim 69,wherein said ECU comprises an image processor, and wherein said imageprocessor processes image data captured by the rear camera of theplurality of cameras and carried to said ECU from the rear camera duringthe reversing maneuver of the equipped vehicle, and wherein, responsiveto such image processing, an object present in a rearward path of travelof the equipped vehicle is detected.
 71. The vehicular multi-cameravision system of claim 70, wherein the video display screen of the videodisplay device comprises an organic light emitting diode (OLED) videodisplay screen.
 72. The vehicular multi-camera vision system of claim70, wherein the video display screen of the video display devicecomprises thin film transistor (TFT) liquid crystal display (LCD) videodisplay screen.
 73. The vehicular multi-camera vision system of claim45, wherein the control data carrier frequency is about 80 MHz and theassociated control data frequency bandwidth is +11 MHz.
 74. Thevehicular multi-camera vision system of claim 45, wherein the image datacarrier frequency is about 140 MHz and the associated image datafrequency bandwidth is +/−5.5 MHz.
 75. The vehicular multi-camera visionsystem of claim 45, wherein calibration data of each respective cameraof the plurality of cameras is carried by the respective coaxial cablefrom the respective camera of the plurality of cameras to said ECU at acalibration data carrier frequency of about 20 MHz having an associatedcalibration data frequency bandwidth of +/−1 MHz.
 76. The vehicularmulti-camera vision system of claim 45, wherein each of the respectivecoaxial cables carries calibration data from the respective camera ofthe plurality of cameras to said ECU via amplitude modulation (AM) of acalibration data carrier frequency.
 77. The vehicular multi-cameravision system of claim 45, wherein each of the respective coaxial cablescarries image data from the respective camera of the plurality ofcameras to said ECU via frequency modulation of the image data carrierfrequency.
 78. The vehicular multi-camera vision system of claim 45,wherein said ECU comprises an image processor operable to processesimage data captured by the respective cameras of the plurality ofcameras and carried to said ECU via the respective coaxial cables, andwherein said image processor comprises an image processing chip, andwherein said image processing chip processes image data captured by therespective cameras of the plurality of cameras and carried to said ECUvia the respective coaxial cables for detecting an object presentexterior the equipped vehicle.
 79. The vehicular multi-camera visionsystem of claim 78, wherein the object present exterior the equippedvehicle comprises a pedestrian.
 80. The vehicular multi-camera visionsystem of claim 78, wherein the object present exterior the equippedvehicle comprises a vehicle.
 81. A vehicular multi-camera vision system,said vehicular multi-camera vision system comprising: a plurality ofcameras disposed at a vehicle equipped with said vehicular multi-cameravision system, wherein each camera of the plurality of cameras, whendisposed at the equipped vehicle, has a respective field of viewexterior of the equipped vehicle, and wherein each camera of theplurality of cameras is operable to capture image data; wherein eachcamera of the plurality of cameras comprises a CMOS imaging sensorcomprising a two-dimensional imaging array of at least one millionphotosensor elements; wherein the plurality of cameras comprises atleast (i) a front camera disposed at a front portion of the equippedvehicle, (ii) a rear camera disposed at a rear portion of the equippedvehicle, (iii) a driver-side camera disposed at a driver side portion ofthe equipped vehicle and (iv) a passenger-side camera disposed at apassenger side portion of the equipped vehicle; wherein the driver-sidecamera is disposed within a driver-side exterior rearview mirrorassembly of the equipped vehicle, and wherein the passenger-side camerais disposed within a passenger-side exterior rearview mirror assembly ofthe equipped vehicle; an electronic control unit (ECU) operable toprocess image data; wherein each camera of the plurality of cameras isconnected with said ECU via a respective coaxial cable; wherein eachrespective coaxial cable comprises a single core wire and a shieldinglayer that circumscribes the single core wire and that is electricallyisolated from the single core wire; wherein each respective coaxialcable (i) carries image data captured by the respective camera of theplurality of cameras from the respective camera of the plurality ofcameras to said ECU, (ii) carries camera control data from said ECU tothe respective camera of the plurality of cameras and (iii) connects aDC power supply of said ECU to the respective camera of the plurality ofcameras for powering the respective camera; wherein camera control datais carried by the respective coaxial cable from said ECU to therespective camera of the plurality of cameras at a control data carrierfrequency having an associated control data frequency bandwidth; whereinimage data is carried by the respective coaxial cable from therespective camera of the plurality of cameras to said ECU at an imagedata carrier frequency having an associated image data frequencybandwidth; wherein the control data carrier frequency having theassociated control data frequency bandwidth is lower than the image datacarrier frequency having the associated image data frequency bandwidth;wherein no frequency within the control data frequency bandwidth of thecontrol data carrier frequency overlaps with any frequency within theimage data frequency bandwidth of the image data carrier frequency;wherein each respective camera of the plurality of cameras is part of abird's eye surround view vision system of the equipped vehicle; whereineach of the respective coaxial cables carries calibration data from therespective camera of the plurality of cameras to said ECU; whereincalibration data is carried by the respective coaxial cable from therespective camera of the plurality of cameras to said ECU at acalibration data carrier frequency having an associated calibration datafrequency bandwidth; wherein the calibration data carrier frequency forcarrying calibration data on the respective coaxial cable from therespective camera of the plurality of cameras to said ECU is lower thanthe image data carrier frequency for carrying image data on therespective coaxial cable from the respective camera of the plurality ofcameras to said ECU; wherein the control data carrier frequency forcarrying control data on the respective coaxial cable from said ECU tothe respective camera is higher than the calibration data carrierfrequency for carrying calibration data on the respective coaxial cablefrom the respective camera of the plurality of cameras to said ECU; andwherein no frequency within the control data frequency bandwidth of thecontrol data carrier frequency overlaps with any frequency within thecalibration data frequency bandwidth of the calibration data carrierfrequency.
 82. The vehicular multi-camera vision system of claim 81,wherein each of the respective coaxial cables carries data other thanimage data from the respective camera of the plurality of cameras tosaid ECU.
 83. The vehicular multi-camera vision system of claim 82,wherein the other data comprises at least one intrinsic parameter of therespective camera.
 84. The vehicular multi-camera vision system of claim81, wherein camera control data carried by the respective coaxial cablefrom said ECU to the respective camera comprises initialization data.85. The vehicular multi-camera vision system of claim 81, wherein saidvehicular multi-camera vision system is operable to carry camera controldata via modulation of a carrier wave of at least one analog signal, andwherein the carrier wave has a frequency that is outside the image datafrequency bandwidth of signals carrying image data on any respective oneof at least some of the respective coaxial cables.
 86. The vehicularmulti-camera vision system of claim 81, wherein each of the respectivecoaxial cables carries at least one intrinsic parameter of therespective camera from the respective camera of the plurality of camerasto said ECU.
 87. The vehicular multi-camera vision system of claim 81,wherein said ECU comprises an image processor operable to processesimage data captured by the respective cameras of the plurality ofcameras and carried to said ECU via the respective coaxial cables. 88.The vehicular multi-camera vision system of claim 87, wherein thecontrol data carrier frequency of camera control data carried by therespective coaxial cable from said ECU to the respective camera has afrequency that has a sufficient Shannon distance from the image datacarrier frequency of image data carried by the respective coaxial cablefrom the respective camera of the plurality of cameras to said ECU. 89.The vehicular multi-camera vision system of claim 87, wherein,responsive to a driver of the equipped vehicle placing a gear actuatorof the equipped vehicle in a reverse gear position, color video imagesderived from image data captured by the rear camera are displayed duringa reversing maneuver of the equipped vehicle at a video display deviceof the equipped vehicle to assist the driver in backing up the equippedvehicle.
 90. The vehicular multi-camera vision system of claim 89,wherein said image processor processes image data captured by therespective cameras of the plurality of cameras and carried to said ECUvia the respective coaxial cables for detecting objects present exteriorthe equipped vehicle.
 91. The vehicular multi-camera vision system ofclaim 89, wherein said image processor processes image data captured bythe rear camera of the plurality of cameras and carried to said ECU fromthe rear camera during the reversing maneuver of the equipped vehicle,and wherein, responsive to such image processing, an object present in arearward path of travel of the equipped vehicle is detected.
 92. Thevehicular multi-camera vision system of claim 91, wherein the detectedobject is a pedestrian.
 93. The vehicular multi-camera vision system ofclaim 91, wherein the detected object is a vehicle.
 94. The vehicularmulti-camera vision system of claim 91, wherein, when the object isdetected, an alert to the driver of the equipped vehicle is generated inorder to enhance the driver's awareness of the presence of the detectedobject in the rearward path of travel of the equipped vehicle.
 95. Thevehicular multi-camera vision system of claim 94, wherein an image ofthe detected object as displayed at the video display device displayedis highlighted.
 96. The vehicular multi-camera vision system of claim89, wherein said ECU utilizes phase lock loop locking to a signalcarrier frequency carried by at least some of the respective coaxialcables.
 97. The vehicular multi-camera vision system of claim 89,wherein at least one intrinsic parameter of each respective camera ofthe plurality of cameras is carried by the respective coaxial cable fromthe respective camera of the plurality of cameras to said ECU at acarrier frequency that is lower than the image data carrier frequencyfor carrying image data on the respective coaxial cable from therespective camera of the plurality of cameras to said ECU, and whereinthe control data carrier frequency for carrying control data on therespective coaxial cable from said ECU to the respective camera ishigher than the at least one intrinsic parameter of the respectivecamera carried by the respective coaxial cable from the respectivecamera of the plurality of cameras to said ECU.
 98. The vehicularmulti-camera vision system of claim 89, wherein image data carried tosaid ECU from the respective cameras are image processed at said ECU toform a bird's eye surround view of an environment at least partiallysurrounding the equipped vehicle.
 99. The vehicular multi-camera visionsystem of claim 98, wherein said ECU outputs the bird's eye surroundview to the video display device of the equipped vehicle for display ona video display screen of the video display device for viewing by thedriver of the equipped vehicle during a driving maneuver of the equippedvehicle.
 100. The vehicular multi-camera vision system of claim 99,wherein the video display screen of the video display device comprisesan organic light emitting diode (OLED) video display screen.
 101. Thevehicular multi-camera vision system of claim 99, wherein the videodisplay screen of the video display device comprises thin filmtransistor (TFT) liquid crystal display (LCD) video display screen. 102.The vehicular multi-camera vision system of claim 81, wherein thecontrol data carrier frequency is about 80 MHz and the associatedcontrol data frequency bandwidth is +11 MHz.
 103. The vehicularmulti-camera vision system of claim 81, wherein the image data carrierfrequency is about 140 MHz and the associated image data frequencybandwidth is +/−5.5 MHz.
 104. The vehicular multi-camera vision systemof claim 103, wherein the calibration data carrier frequency is about 20MHz and the associated calibration data frequency bandwidth is +/−1 MHz.105. The vehicular multi-camera vision system of claim 81, wherein eachof the respective coaxial cables carries calibration data from therespective camera of the plurality of cameras to said ECU via amplitudemodulation (AM) of the calibration data carrier frequency.
 106. Thevehicular multi-camera vision system of claim 81, wherein each of therespective coaxial cables carries image data from the respective cameraof the plurality of cameras to said ECU via frequency modulation of theimage data carrier frequency.
 107. The vehicular multi-camera visionsystem of claim 81, wherein said ECU comprises an image processoroperable to processes image data captured by the respective cameras ofthe plurality of cameras and carried to said ECU via the respectivecoaxial cables, and wherein said image processor comprises an imageprocessing chip, and wherein said image processing chip processes imagedata captured by the respective cameras of the plurality of cameras andcarried to said ECU via the respective coaxial cables for detecting anobject present exterior the equipped vehicle.
 108. The vehicularmulti-camera vision system of claim 107, wherein the object presentexterior the equipped vehicle comprises a pedestrian.
 109. The vehicularmulti-camera vision system of claim 107, wherein the object presentexterior the equipped vehicle comprises a vehicle.
 110. The vehicularmulti-camera vision system of claim 81, wherein said ECU comprises animage processor operable to processes image data captured by the rearcamera of the plurality of cameras and carried to said ECU via thecoaxial cable connecting the rear camera to said ECU, and wherein,responsive to such image processing, a pedestrian present in a rearwardpath of travel of the equipped vehicle is detected.